Localization for humanoid robots with sway compensation in indoor environments

This paper discusses and proposes a method to minimize the effect of lateral motion of a humanoid robot´s body that hampers localization performance of an adult-size humanoid robot. On a humanoid with a large sway motion, this effect is not negligible and a correction on the position estimation for perception based localization systems is necessary. First, the sway motion will be quantified and different perception configurations will be proposed to reduce the errors caused by this motion. Then, experimental results will be presented to demonstrate that the proposed localization system using a 2D laser scanner is more accurate and reliable when the sway motion is compensated.